In domains such as mobile robot navigation, the dominant characteristics which must be addressed by an intelligent agent are the incomplete and uncertain knowledge of its environment, uncertainty in the current state of a complex system, as well as uncertainty in the effects of the agent’s own actions. In order to function effectively in unstructured, unknown, and dynamic environments, planning systems cannot generate a plan a priori that can be expected to perform reasonably in the face of such uncertainty, nor can they anticipate all contingencies that may arise. Planning systems must be reactive in the sense that their decisions must take into account current information and state at all times, proceeding in a data-driven manner, rather than attempting to impose unrealizable plans in a top-down fashion.

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